https://github.com/nickw1/orb-slam3-android-expts

Experiments to get ORB_SLAM3 working on Android. Not functional yet
https://github.com/nickw1/orb-slam3-android-expts

Last synced: about 2 months ago
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Experiments to get ORB_SLAM3 working on Android. Not functional yet

• Host: GitHub
• URL: https://github.com/nickw1/orb-slam3-android-expts
• Owner: nickw1
• Created: 2022-08-03T15:40:42.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2022-08-22T15:21:37.000Z (over 2 years ago)
• Last Synced: 2023-03-09T08:47:06.998Z (almost 2 years ago)
• Language: C++
• Size: 3.59 MB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# ORB-SLAM3 Android

An attempt to get ORB-SLAM3 working on Android. Please note that it builds, partially initialises, but then **currently crashes** (crash with `SIGILL` error on emulator, investigation of cause ongoing)

## Steps to create project

1. Thanks to Vladimir Somers for [this extremely useful setup guide](https://github.com/VlSomers/native-opencv-android-template) for OpenCV on Android. The template project was created using this

2. Basic ORB_SLAM Android project structure taken from [Lewis Baker's repository](https://github.com/bakelew/ORB_SLAM2_Android) and added to OpenCV template above. Note this is ORB_SLAM2, not ORB_SLAM3. OpenCV references commented out as step 1 already brings in OpenCV.

3. ORB_SLAM2 code replaced by ORB-SLAM3 code taken from the Emscripten port [here](https://github.com/nickw1/ORB_SLAM3/tree/binvoc) - please use the `binvoc` branch. `Thirdparty` libraries also replaced.

## Problems

- Currently crashes on x64 emulator, see [here](SIGILL_crash.txt) for stack trace.

- Division operator (Matx,float) not recognised e.g. in `LocalMapping.cc` line 628 and `KannalaBrandt8.cpp` line 534. This didn't occur with emscripten: issue with C++ compiler used on Android? Replaced with code to divide individual values within matrix.